pWfjC

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ELSEVIER Electric Power Systems Research 37 (1996) 45-53

Modeling and performance of a static frequency converter starting

a 300 MVA synchronous machine
Tian-Hua Liu a, Chih-Ying Lin a, Jin-Shyr Yang b, Wen-Yao Chang b
a Department oj’ Electrical Engineering, National Taiwan Institute of Technology, Taipei 106, Taiwan
’ Power Reseurch Institute. Taiwan Power Company, Taipei 238, Tainan

Received 11 December 1995:accepted 16 January 1996

Abstract

This paper presents a study of the dynamic behavior of a static frequency converter driving a 300 MVA synchronous generator
which is used in a pumped storage power plant of Taiwan Power Company. The static frequency converter, which consists of a
three-phase AC/DC phase converter, a filtering inductance, and a six-step current-source inverter, is used to start a 300 MVA
synchronous machine. In this paper, first the mathematical model of the whole system which consists of a synchronous machine,
a static frequency converter, a microprocessor, and sensors is established. Then, the control method of the static frequency
converter based on field oriented control is presented. Next, a filter circuit has been designed to reduce the harmonics of the AC
source. By using this filter, the harmonics can be effectively reduced. Finally. some computer simulated and experimental results
are shown to verify the theoretical analysis. This paper presents a new direction in the use of advanced power electronic
technology to drive a very large synchronous machine.

Kewords: Converters: Synchronous machines; Harmonics; Static frequency converter

1. Introduction ated as synchronous motors to pump the water from

the lower reservoir to the upper reservoir. In the day-
Recently, power electronic technology has been de- time, however, the machines are operated as generators,
veloping successfully. Many papers have been presented and produce 1800 MVA of electrical power by using
to apply power electronic technology in the field of the falling energy of the water, which flows from the
large machine drive controls. For example, Dyer et al. upper reservoir to the lower reservoir. By using this
proposed a static var system for starting and operating method, the power company can offer more electrical
large 6000 and 8000 hp synchronous compressor mo- power to industries as well as households during the
tors [l]. Dewinter and Kedrosky studied a 3500 hp daytime, and increase its peak load capability. The
variable-frequency drive for a pipeline pump control synchronous machines, therefore, need to be started
[2]. Montanari and Loggini discussed the voltage-dis- and stopped frequently. There are many different meth-
tortion compensation method in electrical plants [3]. ods that have been used to start a synchronous ma-
Hanna presented harmonics and technical barriers in chine. For example, we can use an auxiliary
adjustable-speed drives [4]. However, to the best of the synchronous machine, a DC machine, or an induction
authors’ knowledge, the use of power electronic tech- machine coupled to the synchronous generator shaft to
nology to start a large synchronous machine (300 start this synchronous machine. However, these meth-
MVA) in a pumped power plant has not been studied. ods require large-size auxiliary equipment which in-
This has motivated our investigation. In Taiwan, more creases the cost of the whole system. In this paper, we
electrical power is required during daytime than during study the use of a static frequency converter (SFC) to
the night. A pumped storage power plant with six 300 start a 300 MVA synchronous machine. When com-
MVA generators has, therefore, been set up to increase pared with the traditional methods, the SFC system has
the peak load capacity of electrical power in Taiwan. many advantages. For example, the system is compact
During the night, the synchronous machines are oper- and its efficiency is very high. In addition, it can

037%7796/96/$15.00Q 1996 Elsevier ScienceS.A. All rights reserved

PII SO378-7796(96)01039-5
46 T.H. Liu et al. /Electric Power Systems Research 37 (1996) 45-53

I I I I I I
stc.tic Synchronous *& = L,, iqs+ Lbribr (8)

Hicroprocessor c Frequency c t&,= Ld 4,+ -GA, (9)

HoChine
converter y?;.d= Lid& + L,, ids + Lmd i& (10)
The electromagnetic torque equation is
T Te = 3p”le
22 (rl/dsiqs - loqs4, ) (11)

The speed and shaft position of the machine are

I I

Fig. I. Block diagram of the whole system. pru,=$(T,-T,-B,u,) (12)

m
sequentially start many synchronous machines in a
short period of time and the system can drive the and
synchronous machine automatically, parallel with the
PO, = w, (13)
power system, when the speed of the machine is close to
the synchronous speed. Detailed modeling, analysis, where Vq5and Vdsare the q- and d-axis stator voltages
and simulation of the whole drive system are presented of the machine, rS is the stator resistance, p is the
in this paper. differential operator, $q5 and $ds are the q- and d-axis
stator fluxes, $br and $i, are the q- and d-axis rotor
fluxes, @id is the field flux, L,, and L,, are the q- and
2. Mathematical model d-axis stator self-inductances, iqS and idS are the q- and
d-axis stator currents, L,, and L,, are the q- and
The block diagram of the whole system is shown in d-axis mutual inductances, ibr and i&, are the q- and
Fig. 1. There are four major parts: a synchronous d-axis rotor currents, w, is the speed, $, is the field
machine, a SFC, a microprocessor, and sensors. First, current, r: is the rotor resistance, LbC and L&, are the q-
the microprocessor computes the speed error and exe- and d-axis rotor inductances, eid is the exciting voltage,
cutes the control algorithm to determine the ampli- r& is the resistance of the exciting winding, Lkd is the
tudes, frequency, and switching time of the SFC. Then, self-inductance of the exciting winding, T, is the electro-
the SFC outputs three 120” phase difference, approxi- magnetic torque, J, is the inertia, T, is the external
mately six-step square-wave phase currents to the sta- load, B, is the viscosity, and 8, is the shaft position of
tors of the synchronous machine. Finally, the speed of the machine.
the synchronous machine is adjusted and its currents,
shaft position, and shaft speed are fed back to the 2.2. Static fkequency converter
microprocessor to achieve a closed-loop drive system.
The SFC consists of an AC/DC converter, a filtering
2.1. Synchronous machine inductance, and an inverter. The SFC is used to supply
three phase currents to the stator of the synchronous
The synchronous machine is a three-phase, 18-pole, machine. The amplitude and frequency of the three
16.5 kV, 300 MVA machine. It can be operated as a phase currents can be adjusted to control the electro-
generator as well as a motor. The mathematical model magnetic torque of the machine. The flux of the ma-
of the synchronous machine can be expressed by high- chine is kept constant because the exciting current is
order, nonlinear, and coupled differential equations: fixed. The switching time of the SFC is determined
according to the shaft position of the synchronous
Vqs= r, iqs+p*,, + w, *ds (1) machine. The frequency of the currents, therefore, is
(2) adjusted according to the speed of the synchronous
Vds = rr ids + ptidS - 0, tiqS
machine. By using this method, high-performance
0 = rLi& +pJ/b, (3) closed-loop speed control of the synchronous machine
is achieved, and good performance of the whole system
0 = r:i& +p*& (4)
can be obtained.
eid = r&i& +p*& (5) The block diagram of the SFC is shown in Fig. 2.
The output voltage of the AC/DC converter is con-
The flux linkage equations are:
trolled by changing the firing angle E of the silicon
+qs= L,, iqs+ L,, ibr (6) control rectifiers (SCRs). The relationship is

tids= Ld,id,+ Ld iid + -Ld ii, (7) V, = 3J’5V, cos u/z - 3w, L, iJ7t (14)
 T.H. Liu et al. /Electric Power Systems Research 37 (1996) 45-53

AC/DC converter Filtemg 1nverter

Inductance

its

Fig. 3. Output currents of the static frequency converter (iR =con-

stant).
Fig. 2. Power circuit of the static frequency converter
matrix is
where V, is the output of the AC/DC converter, V, is
the r.m.s. line to line voltage of the input AC source
voltage, 3~ is the firing angle of the SCRs, II), is the
frequency of the AC source, L, is the equivalent induc-
tance of one phase in the AC source, and i, is the
output current of the converter. The current flowing
into the filtering inductance is related to the output
voltage of the AC/DC converter, V,, the input voltage ias
of the AC/DC inverter, V,, and the value of the induc- x lbs (19)
tance. The current is [1L,
where iqS is the q-axis current and ids is the d-axis
iR=k (V,- V,)dt-i,R, (15) current. Substituting Eqs. (17) and (18) into Eq. (19),
Fi the corresponding currents in the d,q synchronous ref-
The inverter dispatches the current i, to the stator erence frame are
winding of the synchronous machine. According to the
shaft position of the synchronous machine, the inverter
sequentially switches the six solid-state devices, which
are the gate-turn-off (GTO) devices. Simply explained,
iqs 1 -~cos(68,)-~cos(l28,)--.-
1 (20)
we assume i, is a constant current. Then, the six-step
square-wave currents i,,, ibS, and i,, are as shown in Fig.
3. The currents can be represented by the Fourier series
ids
z-1
q/5.
7-c R - Jj$ sin(60,) -g sin(128,) - ...
1 (21)
expansions [5]
2.3. Combined equivalent system
2&.
1.‘is =-1 R cos 8, -; cos(58,) + ; cos(70,)
71 [ Because the field current iid is controlled by a closed-
loop current regulator, the ikd is set at a constant value
-+os(llH,) + ...
1 (16) while the synchronous machine is started. The field
current can be expressed as a constant value I;&. As-
suming no power loss in the inverter, the power flowing
ibS= $i,[cos(O,-~z)-~cos(S(irtjn)
into and out of the inverter is equal, so that [6]

+;cos(7(i;-fnj~cos(ll~~+~~)+. .
1
(17) vIiR=~tvqsiqs+
3
vdsids)

where V, is the input voltage of the inverter. From Eqs.

(22)

i,,=~i,[cos(8,+~7z-~cos(5*r-~7r) (20)-(22) we can easily derive that

+~cos(70,+;n)-~cos(ll~~-;~)+
1(18) g,, and gds, which are the switching functions
(23)

of the
inverter, can be shown to be
The coordinate transformation between the a,b,c sta-
tionary reference frame and the d,q synchronous refer-
gqs= 1 -+os(68,)-&os(l20,)---- (24)
ence frame is shown in Fig. 4. The transformation
48 T.H. Liu et al. 1 Electric Power Systems Research 37 (1996) 45-53

bs g,, E 1.0 (32)

g,, 2 0 (33)
Then+ from Eq. (26) and (32)-(33), letting iqs=
(&/Vn)i,, we can obtain a simplified equation:

n .=(r,+~R,)i,,+p(L,,,+~L,;)i,,
3$
f pLmq i& + or(Lmd ii, + L,d Ii’d) (34)
The torque of the machine can be reduced to

Fig. 4. Coordinate transformation T = 3 po1e

e 2 2 Lmd (Gd + ibr)iqs (35)

From Eq. (35) it is easy to explain that the torque

&= -gsin(6H,)-Zsin(l20,)-...
is proportional to iqs. Therefore, we can regulate the
output voltage of the converter, V,, online to adjust
In the d,q synchronous reference frame, the com-
lqS, and then control the torque of the synchronous
bined model which consists of the synchronous machine
machine.
and the SFC can be expressed as

3. System description

( ‘qs g,, + vd, gd, )

T, = 59 [Lmd(ids+z~d+i&r)iqs-Lmq(iqs+ibr)id5]
The torque of the machine is determined primarily by
the fundamental components of the state variables of
the machine. In this paper, we use Eqs. (14)-(31) to do
a computer simulation. However, in order to explain
the basic principle, we assume that the effects of har-
monics are neglected. The switching functions become
The block diagram of the real drive system is shown
in Fig. 5. The system consists of two loops: a speed
(27) loop and a current loop. In the speedloop, the speedis
controlled by the speed-loop controller and the torque
(28) control algorithm. The field oriented control algorithm
is used here to adjust the torque of the synchronous
(29)
machine. First, the real speed is detected by using a
(30) pulse generator, which is mounted on the axis of the
synchronous machine, and a simple circuit. The circuit
(31) counts the number of pulses for a fixed period, and
then obtains the speed of the machine. Next, the speed
error Aw,, which is the difference between the speed
command o,* and the real speed w,, is computed. Then
the q-axis current command, iz, can be calculated
according to the proportional integral (PI) controller
and AU,. A current limiter is inserted to avoid overcur-
rent destruction of the static frequency converter or the

Y
Torque Current I current static

Controt
c I
Reference A

A8
r

At 1

pht?
generator

Fig. 5. Block diagram of the real closed-loop drive system.

synchronous machine. The maximum value of iz is
about 1000 A. The real current of the filtering induc-
tance in the SFC can be expressed as i,. The current i,,
which is detected by using a current sensor, is very close ib, = $iR[~os(c0~t-~z)-fcos(5w,t+$n)
to the q-axis current iq. The current error Ai, is com-
puted, and then a current-loop control is executed to
+;Cos(7m,t-~II)-+oS(llW.1+311)
determine the firing angle of the AC/DC converter. By
adjusting the firing angle c(, the real current, iR, can
follow the current command, iz. The shaft position of
the synchronous machine is detected by using a pulse
generator which is mounted on the synchronous ma-
chine. The inverter is a current-source type, and can
switch the solid-state GTO switches to generate three
120” phase shift, six-step square-wave phase currents, i,,
i,, and i,. The frequency of the currents is determined
by the shaft angle of the machine. The amplitude of the
(38)
currents, however, is controlled by the three-phase AC/
DC converter. The currents are injected into the stator
From Eqs. (36)-(38) the currents of the AC source
of the synchronous machine and produce an electrome-
are related to the current of the filtering inductance, in,
chanical torque. The machine is then rotated. A closed-
and the frequency of the AC source, w,. The harmonics
loop control system is thus achieved.
appearing in the AC source are 6n -t 1, n = 1,2,3, . . ., co.
This means that the harmonics of the AC current are the
3.1. Harmonic analysis of the AC source
5th, 7th, llth, 13th, 17th, 19th, 23th, 25th, . . . . co. In
addition, the amplitudes of the harmonics are propor-
The one-line diagram of the SFC system is shown in
tional to the harmonic numbers. The AC voltage source
Fig. 6. The input voltage of the SFC system is fed
is shorted during the phase commutation because the
through a 13.8 kV/16.5 kV A/Y transformer. The line
SCRs take a long time to turn on and off. Many voltage
voltage of the SFC system is 16.5 kV. The switching
notches, therefore, appear in the AC source [7].
sequence of the SCRs and the current waveforms (iR =
The harmonics of the AC source cause a lot of
constant) of the AC source of the SFC are shown in
problems. For example, when the synchronous machine
Fig. 7. Generally speaking, the firing angle g varies very
is driven by the SFC, light breakers are tripped. More-
slowly. The period of the AC-source square-wave cur-
over, fluorescent lamps and uninterruptible power sup-
rents, therefore, remains close to a constant value. The
plies (UPSs) are damaged. The major reason is that the
currents of the AC source can be expressed by Fourier
synchronous machine is so large (300 MVA). Although
series expansions as
it is started at ‘no load’ by the SFC, it absorbs three
24.
ial E---l R ww, t) -; cos(5w, t) +; cos(7w,t) I
n [ Tl 1 Wet
52 1 I wet

T3 I I I wet

-7 345KV
B”s
T4 I I Wet

T5 I I Wet

x 345KV /L3.8KV ?6 I I w*t

36.66 WA y/A (4
- 13.8KV Bus
I I

IXIKV /23OV

T
24.5 HVA A/Y 2000KVA A It’

I
To
4000 KVAR Light ’
‘=l , Wet
UPS I
and
Other Utilities (b)

Fig. 7. States of the AC source: (a) switching sequences of the SCRs;

Fig. 6. One-line diagram of the SFC system. (b) current waveforms.
50

Fig. 8. AC-source filter: (a) circuit; (b) frequency response.

phase currents of about 800 A from the AC source.

w,, o2 = o. [l + (1:‘4Q2)]“’ f $ (43)
One phase current of the AC source consists of more
than 30% harmonics. The most serious harmonics are The bandwidth of the filter is defined as
the 5th and the 7th. The 5th harmonic is about 160
A, and the 7th is about 114 A. A filter circuit, there- BW=w,-o,=w,lQ (44)
fore, is required to reduce the harmonics of the AC In this paper, the values of the components R, L,
source. and C are selected as L = 5.22 mH, R = 85 R, and
C = 53.46 uF. We can easily substitute these values
into Eq. (39)-(44) and calculate the parameters of the
4. Filter design filter. They are shown in Table 1. The frequency re-
sponse of the filter is shown in Fig. 8(b). According
The filter of the AC source is shown in Fig. 8. The to the figure, the frequency near 300 Hz has the
passive filter consists of a resistance, an inductance, and highest magnitude. This implies that the harmonics
a capacitance for every phase. The resistance is used to near the 5th harmonic flow into the filter and disap-
absorb the energy of the harmonics flowing into the pear in the AC source. After the filter is used in the
filter. AC source, the harmonics are effectively reduced. For
The transfer function of the filter circuit can be example, the fluorescent lamps, the UPSs, and other
derived from Fig. 7, and can be expressed as utilities in the pumped power plant work well while
the synchronous machine is being started by the SFC.
I(s) 1 s2+ (R/L)s This shows that the filter can absorb many harmonic
(39)
m) = V(s) =x s2 + sj(RC) + l/(K) currents.

Eq. (39) can be expressed as a standard second-order

filter: 5. Computer simulation and experimental results
s2 + a,s
T(s) = L (40) For this paper, a simulation program was designed
K s2 f (W”/Q)S + wo2 using SIMNON. This program is executed in an IBM
Comparing Eqs. (39) and (40) we can obtain the PC 486. The parameters of the filtering inductance of
natural frequency and the quantity factor: the SFC are L, = 18.6 mH and R, = 0.0001 fi. The

1 R Table 1
m0=0’:2 and Q= (Llc)1’2
Filter parameters

The natural mode (poles) of the filter is (41 1893 rad/s (301 Hz)
Q 8.6
00 K 85
P,, f’, = - 2 + JW, [1 - (li4Q2)1”2 Poles -IlO~jlX90
(02 2006 rad/s (319 Hz)
01 , 1786 rad/s (284 Hz)
Let o, and w2 be the frequencies of the - 3 dB mag- BW 220 radis (35 Hz)
nitude response of the filter. It can be shown that
 T.H. Liu et al. /Elecrric Power Systems Resead 37 (1996) 45-53 51

Table 2 A
I I I I
Synchronous machine parameters I

rr 0.00128 R
000 -
1
L qr 5.4 mH
L mq 5.03 mH 400 -

L ds 6.21 mH
L md 5.88 mH
O-
r, 0.1047 n
Lip 5.4 mH
L’ *r 6.21 mH
-400 -

parameters of the synchronous machine are described -800

P-;
in Table 2. Some results are shown here. Fig. 9(a) I I I 1 I I

and (b) shows the simulated and measured input 0 5 10 15 20 25 ms

voltages, respectively, of the SFC. Several voltage (4

notches appear during the phase commutation. The

experimental result is close to the simulated wave-
form. Fig. 10(a) shows the simulated input current
waveform of the SFC. It is nearly a six-step square
wave and contains a lot of harmonics. Fig. 10(b)
is the measured input current waveform. The
measured waveform is also close to the simulated
waveform. Fig. 11(a) and (b) shows the current at
the 13.8 kV side of the 13.8 kVj16.5 kV A/Y trans-

KV
I

24 - 0 5 10 15 20 25 Ins

(h)

Fig. 10. Input current of the static frequency converter: (a) simulated;
(b) measured.

former without and with the AC filter. The current

-12 - is improved and the waveform is nearly sinusoidal
after the AC filter is used. Fig. 12(a) and (b) shows
-24 - the measured voltage waveform of the transformer
at the 13.8 kV side without and with the AC fil-
0
ter. Fig. 13(a) and (b) shows the simulated and
(4
measured output currents of the SFC at 370 rev/min.
KV
Fig. 14(a) and (b) shows the simulated and measured
speed responses of the synchronous machine. Again,
24
the experimental result is close to the simulated
result.
12

0 6. Conclusions

-12 Modeling, analysis, and simulation for a static fre-

quency converter starting a synchronous machine have
-24 been presented. In order to verify the correctness of the
mathematical model, some simulated results and mea-
15 20 25 "5
0 5 10 sured waveforms are presented. The measured wave-
(b) forms are close to the simulated results. Moreover, the
Fig. 9. Input voltage of the static frequency converter: (a) simu- detailed design of a passive filter to reduce the harmon-
lated; (b) measured. ics of the AC source is described. This paper studies the
52 T.H. Liu et ul. /Electric Powvr Systems Research 37 (1996) 45-53

A KV

I
20

10

- IO

-*4001 - 20

0 5 25 ms 0 5 10 15 20 25 ms

'O (4 l5 'O (4
A KV

2400

1200

-1200

-2400
I I. I, I ,.I.

0 5 IO 15 20 25 rns 0 5 10 15 20 25 ms

(b) (b)
Fig. 11. Current of the 13.8 kVj16.5 kV A/Y transformer at the 13.8 Fig. 12. Voltage of the 13.8 kV/16.5 kV A/Y transformer at the 13.8
kV side: (a) without the AC filter; (b) with the AC filter. kV side: (a) without the AC filter: (b) with the AC filter.

800

400

-400

-800

0 5 10 15 20 25 ms 0 5 20 25 ms
” (b) I5
(4

Fig. 13. Output current of the static frequency converter: (a) simulated; (b) measured.
 T.H. Liu et ul. /Electric Power Systems Research 37 (1996) 45-53 53

speed application of power electronics in a very large syn-

chronous machine drive system.

Acknowledgements

The authors are grateful to Dr Nanming Chen

of the Department of Electrical Engineering, Na-
tional Taiwan Institute of Technology, for his encour-
agement, and Taiwan Power Company for its
support.

speed
References
rlmin
[I] R.T. Dyer, D.R. McCue, S.L. Williams, S.J. Swencki and P.O.
Thoits, A static var system for starting and operating large
synchronous compressor motors, IEEE Trans. Ind. A&., 23
(1987) 1666172.
[2] F.A. Dewinter and B.J. Kedrosky, The application of a 3500-hp
variable frequency drive for pipeline pump control, IEEE Trans.
Ind. Apply 25 (1989) 1019~1024.
[3] G.C. Montanari and M. Loggini, Voltage-distortion compensa-
tion in electrical plants supplying static power converters, IEEE
Trans. Ind. Appl., 23 (1987) 181-188.
[4] R.A. Hanna, Harmonics and technical barriers in adjustable
speed drives, IEEE Trans. Ind. Appl., 25 (1989) 894-900.
[5] B.K. Bose, Power Electronics and AC Drives, Prentice-Hall, En-
glewood Cliffs, NJ, 1986.
[6] P.C. Krause, Analysis of’ Electric Machinery, McGraw-Hill, New
York, 1987.
[7] Y. Baghzouz, An accurate solution to line harmonics distortion
Fig. 14. Speed response of the synchronous machine: (a) simulated: produced by AC/DC converters with overlap and DC ripple,
(b) measured. IEEE Trans. Ind. Appl., 29 (1993) 5366540.